Ground segmentation method?

[adilcand]

Hello, I wanted to learn more about the method you used for ground segmentation.

I found this paper:

https://www.researchgate.net/publication/329612826_A_Slope-robust_Cascaded_Ground_Segmentation_in_3D_Point_Cloud_for_Autonomous_Vehicles

Is this the same or a similar method? In the paper they mention about multi-region RANSAC plane fitting, which you don't, but the earlier part they implemented in the paper seemed similar.

Is there a paper you would recommend me to check to understand your method better?

Thank you!